ST X-NUCLEO-IHM04A1 User manual

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August 2015
DocID028121 Rev 1
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www.st.com
UM1925
User manual
Getting started with the X-NUCLEO-IHM04A1 dual brush DC
motor driver expansion board for STM32 Nucleo
Introduction
The X-NUCLEO-IHM04A1 is a dual brush DC motor drive expansion board based on L6206 (DMOS
dual full bridge driver) to drive dual bipolar DC or quad unipolar DC motors. It provides a low cost,
robust and easy-to-use solution for driving DC motors in your STM32 Nucleo project. A flexible solution
for driving 1 to 4 DC motors is implemented via jumpers.
The X-NUCLEO-IHM04A1 is compatible with the Arduino UNO R3 connector, and supports the addition
of other expansion boards with a single STM32 Nucleo board. The user can also mount the ST Morpho
connector.
Figure 1: X-NUCLEO-IHM04A1: Dual brush DC motor driver expansion board based on L6206

Contents
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Contents
1Getting started................................................................................3
2Hardware description and configuration ......................................4
2.1 overcurrent (OCD) threshold setting ................................................5
2.2 Selecting the mode ..........................................................................6
2.2.1 Mode no. 1: two bidirectional DC motors ..........................................7
2.2.2 Mode no. 2: four DC motors unidirectional........................................7
2.2.3Mode no. 3: parallel connection for higher current - one DC motor
bidirectional .......................................................................................................8
2.2.4 Mode n °4: parallel connection for higher current - two unidirectional
DC motors .........................................................................................................9
2.2.5 Mode no. 5: parallel connection for lower overcurrent - one DC
motor bidirectional...........................................................................................10
2.2.6 Mode n °6: parallel connection for lower overcurrent - two
unidirectional DC motors.................................................................................11
2.2.7 Mode no. 7: parallel all bridges - one unidirectional DC motor .......12
3Schematic diagram....................................................................... 13
4Bill of material............................................................................... 14
5Revision history ........................................................................... 16

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Getting started
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1 Getting started
The X-NUCLEO-IHM04A1 expansion board is a dual brush DC motor driver covering a
wide range of applications. The maximum ratings of the board are the following:
Power stage supply voltage (VS) from 8 V to 50 V
Motor phase current up to 2.8 A r.m.s.
Follow this sequence to start your project with the board:
1. Check the jumper position based on your configuration (see Section 2: "Hardware
description and configuration")
2. Connect the board with the STM32 Nucleo board through Arduino UNO R3 for the X-
NUCLEO-IHM04A1
3. Supply the board through the input 6 (VS) and 5 (ground) of the connector CN1
4. Develop your application using the examples provided with the firmware library, X-
CUBE-SPN4
Further support material is available on the L6206 and the STM32 Nucleo web pages on
www.st.com

Hardware description and configuration
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2 Hardware description and configuration
Figure 2: Jumper and connector position
The following table provides the detailed pinout of the Arduino UNO R3 and ST Morpho
connectors.
Table 1: Arduino UNO R3 connector table
Connector
Pin (1)
Signal
Remarks
CN5
5
ADC-6
7
Ground
CN9
3
EN-A
5
IN2A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
6
IN1A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
CN6
6
Ground
7
Ground
CN8
1
IN1B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
2
IN2B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
3
ADC-4
5
Notes:
(1)All the non-listed pins are not connected.

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Table 2: ST Morpho connector table
Connector
Pin (1)
Signal
Remarks
CN10
9
Ground
13
ADC-6
27
IN1A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
29
IN2A
See Section 2.1:
"overcurrent (OCD)
threshold setting"
33
EN-A
CN7
20
Ground
22
Ground
28
IN1B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
30
IN2B
See Section 2.1:
"overcurrent (OCD)
threshold setting"
32
ADC-4
36
EN-B
Notes:
(1)All the non-listed pins are not connected.
2.1 overcurrent (OCD) threshold setting
The device integrates two overcurrent protection circuits with adjustable threshold, one for
each full bridge.
The overcurrent threshold is set through the R9 (bridge A) and R8 (bridge B) resistors, as
indicated in Figure 3: "Overcurrent threshold versus resistor value (no paralleling)".

Hardware description and configuration
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Figure 3: Overcurrent threshold versus resistor value (no paralleling)
When one of the paralleling modes is used (see Section 2.2: "Selecting the mode"), the
actual OCD threshold value may be scaled as indicated in Table 1: "Arduino UNO R3
connector table".
2.2 Selecting the mode
This board can drive 1 to 4 DC motors with several configurations.
The selection is done by Jumper J1 - J2 - J3 and J4, by default: all jumpers are not
populated.
The table below briefly summarizes the possible configurations:
Table 3: Board configuration summary
Mode
Max output
current
Output
RDS(on)
OCD
threshold
scaling
J1
J2
J3
J4
Two bidirectional DC
motors
2.8 A rms
0.3 Ω
× 1
Disconnect
ed
Disconnect
ed
Disconnect
ed
Disconnect
ed
Four unidirectional
DC motors
2.8 A rms (1)
0.3 Ω
× 1 (1)
Disconnect
ed
Disconnect
ed
Disconnect
ed
Disconnect
ed
High current parallel
one bidirectional DC
motor
5.6 A rms
0.15 Ω
× 2
Disconnect
ed
Disconnect
ed
Connected
Connected
High current parallel
two unidirectional DC
motors
5.6 A rms
0.15 Ω
× 2
Disconnect
ed
Disconnect
ed
Connected
Connected
Low current parallel
one DC motors
bidirectional
2.8 A rms
0.15 Ω
× 1
Connected
Connected
Disconnect
ed
Disconnect
ed
Low current parallel
two unidirectional DC
motors
2.8 A rms
0.15 Ω
× 1
Connected
Connected
Disconnect
ed
Disconnect
ed

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Mode
Max output
current
Output
RDS(on)
OCD
threshold
scaling
J1
J2
J3
J4
Parallel all bridges
one unidirectional DC
motor
11.2 A rms
0.075 Ω
× 4
Connected
Connected
Connected
Connected
Notes:
(1)The current limit is shared between the two motors connected on the same full-bridge (A or B).
2.2.1 Mode no. 1: two bidirectional DC motors
Two independent DC motors are driven by the board.
The supply voltage of both motors is connected to J1 pin 5 and 6 with a maximum voltage
at 50 V DC.
Maximum current is 2.8 A rms and the output RDS(on) is equal to 0.3 W (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 5.6 A.
Motor A connected between A+ (CN1 pin1) and A- (CN1 pin2)
Motor B connected between B+ (CN1 pin4) and B- (CN1 pin3)
Table 4: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Disconnected
Disconnected
Figure 4: two bidirectional DC motors
2.2.2 Mode no. 2: four DC motors unidirectional
Four independent DC motors are driven by the board.
The supply voltage of both motors is connected to J1 pin 5 and 6 with a maximum voltage
of 50 V DC.

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Maximum current is 2.8 A rms and the output RDS(on) is equal to 0.3 W (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 5.6 A.
The total rms current flowing in A+ and A- DC motor must be below the 2.8 A
rms limit. The OCD threshold is also triggered when the sum of the two output
currents exceeds the programmed threshold.
The same for the B+ and B- outputs.
Motor A connected between A+ (CN1 pin1) and GND
Motor B connected between A- (CN1 pin2) and GND
Motor C connected between B+ (CN1 pin4) and GND
Motor D connected between B- (CN1 pin3) and GND
Table 5: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Disconnected
Disconnected
Figure 5: Four unidirectional DC motors
2.2.3 Mode no. 3: parallel connection for higher current - one DC motor
bidirectional
This mode, with output power in parallel, increases the output current capability.
The motor supply voltage is connected to J1 pin 5 and 6 with a maximum voltage of 50 V
DC.
Maximum current is 5.6 A rms and the output RDS(on) is equal to 0.15 W (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 11.2 A.
Motor A connected between

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Both A+ (CN1 pin1) B+ (CN1 pin4)
Both A- (CN1 pin2) B- (CN1 pin3)
Table 6: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Connected
Connected
Figure 6: One DC motor bidirectional - higher current
2.2.4 Mode n °4: parallel connection for higher current - two unidirectional
DC motors
This mode is similar to mode 3 - the bidirectional DC motor is replaced by two
unidirectional DC motors
Motor A connected between
Both A+ (CN1 pin1) B+ (CN1 pin4)
GND
Motor B connected between
Both A- (CN1 pin2) B- (CN1 pin3)
GND
Table 7: Jumper selection
J1
J2
J3
J4
Disconnected
Disconnected
Connected
Connected

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Figure 7: two unidirectional DC motors - higher current
2.2.5 Mode no. 5: parallel connection for lower overcurrent - one DC motor
bidirectional
This mode, with output power in parallel, maintains a lower operating current compared to
the solution in mode 3, but power dissipation is reduced.
The motor supply voltage is connected to J1 pin 5 and 6 with a maximum voltage of 50 V
DC.
Maximum current is 2.8 A RMS and the output RDS(on) is equal to 0.15 W (Th = 25 °C).
The maximum overcurrent detection threshold is set to 5.6 A.
Motor A connected between
Both A+ (CN1 pin1) A- (CN1 pin2)
Both B+ (CN1 pin4) B- (CN1 pin3)
Table 8: Jumper selection
J1
J2
J3
J4
Connected
Connected
Disconnected
Disconnected

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Hardware description and configuration
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Figure 8: One bidirectional DC motor - lower overcurrent
2.2.6 Mode n °6: parallel connection for lower overcurrent - two
unidirectional DC motors
This mode is similar to the mode 5 - the bidirectional DC motor is replaced by two
unidirectional DC motors.
Motor A connected between
Both A+ (CN1 pin1) A- (CN1 pin2)
GND
Motor B connected between
Both B+ (CN1 pin4) B- (CN1 pin3)
GND
Table 9: Jumper selection change
J1
J2
J3
J4
Connected
Connected
Disconnected
Disconnected

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Figure 9: two unidirectional DC motors - lower overcurrent
2.2.7 Mode no. 7: parallel all bridges - one unidirectional DC motor
This mode, with all output power in parallel, allows driving a single-brush unidirectional DC
motor.
The motor supply voltage is connected to J1 pin 5 and 6 with a maximum voltage of 50 V
DC.
Maximum current is 11.2 A rms and the output RDS(on) is equal to 0.075 Ω (TJ= 25 °C).
The maximum overcurrent detection threshold is set to 22.4 A.
Motor A connected between
Both A+ (CN1 pin1) A- (CN1 pin2) B+ (CN1 pin4) B- (CN1 pin3)
GND
Figure 10: One unidirectional DC motor - all bridges

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Schematic diagram
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3 Schematic diagram
Figure 11: X-NUCLEO-IHM04A1 circuit schematic

Bill of material
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Table 10: Bill of material (Part 1)
Item
no.
Description
Q.ty
Part reference
Value
Voltage
Part type
1
CAP ALU 100µF 63V SMD-PACK-G
10x10.2 mm
1
100UF
63V
ALUMINIUM
2
CAP CER 100nF 50V X7R 0603
2
C2 C3
100NF
50V
CERAMIC
3
CAP CER 220nF 35V X7R 0603
1
C4
220NF
35V
CERAMIC
4
CAP CER 10nF 50V X7R 0603
1
C5
10NF
50V
CERAMIC
5
CAP CER 5.6nF 50V X7R 0603
2
C6 C7
5.6NF
50V
CERAMIC
6
CAP ALU 100µF 63V Radial 10x6-P5
1
C8
100UF
63V
ALUMINIUM
7
CAP NP 0603
2
C9 C10
NP
NP
8
Screw connector 6 poles MKDS 1/6-
3.81
1
CN1
MKDS1/6-
3.81
SCREW
CONNECTOR
9
THOUGH-HOLE-1x10-Pin height 14.8 -
Body 8.5mn - pitch 2.54
1
CN5
CON-1x10
HEADER
10
THOUGH-HOLE-1x8-Pin height 14.8 -
Body 8.5mn - pitch 2.54
2
CN6 CN9
CON-1x8
HEADER
11
THOUGH-HOLE-2x19-Pin height 14.8 -
Body 8.5mn - pitch 2.54
2
NOT
POPULATED
CON-2x19
HEADER
12
THOUGH-HOLE-1x6-Pin height 14.8 -
Body 8.5mn - pitch 2.54
1
CN8
CON-1x6
HEADER
13
Double Diode high speed switching
Diode
1
D1
BAR43
DIODE
14
LED YELLOW - 0603
4
D2-D5
YELLOW
LED
15
TIN DROP OPEN
4
J1-J4
OPEN
NOT
POPULATE
CMS
16
OPTICAL_TARGET
3
MIRE1-MIRE3
OPTICAL_
TARGET
OPTICAL_
TARGET
17
RES 0 Ω 1.5W 2512
2
R1 R2
0R
CMS
18
RES 100 Ω 5% 1/10W
1
R3
100R
CMS
19
RES 100 kΩ 5% 1/10W 0603 SMD
2
R4 R5
100K
CMS
20
RES NP 0603
4
R6 R7 R14
R15
NP
CMS
21
RES 5.1 kΩ 1% 1/10W 0603 SMD
2
R8 R9
5.1K
CMS
22
RES 10 kΩ 5% 1/2W 0805 SMD
4
R10-R13
10K
CMS
23
DMOS dual full bridge driver
1
U1
L6206PD
MOTOR
DRIVER

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Bill of material
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Table 11: Bill of material (Part 2)
Item
no.
Toler.
Package type
Manufacturer
Manufacturer Part
number
Distributo
r
Distributor
Part num.
1
20%
EEEFK1J101P
PANASONIC
EEEFK1J101P
FARNELL
9696040RL
2
15%
C0603
3
15%
C0603
4
15%
C0603
5
15%
C0603
6
20%
NICHICON
UVR1J101MPD
7
C0603
8
MKDS1/6-3.81
PHOENIX CONTACT
MKDS1/6-3.81
RS
220-4377
9
SSQ110-03
SAMTEC
SSQ-110-04-F-S
10
SSQ108-03
SAMTEC
SSQ-108-04-F-S
11
SSQ119-04D
SAMTEC
SSQ-119-04-L-D
12
SSQ106-03
SAMTEC
SSQ-106-04-F-S
13
BAR43
STMICROELECTRONICS
BAR43SFILM
RS
714-0470
14
LEDC-0603
15
R0805
16
OPTICAL_TARGET
17
R2512
VISHAY DALE
CRCW25120000Z0EG
HP
FARNELL
2099593
18
5%
R0603
19
5%
R0603
20
R0603
21
1%
R0603
22
5%
R0805
23
L6206PD
STMICROELECTRONICS
L6206PD

Revision history
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Table 12: Document revision history
Date
Revision
Changes
06-Aug-2015
1
Initial release.

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